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Parameters renamed: "OdomLocalMap" group is now "OdomF2M" for Frame to Map odometry. Visual registration feature matching: using guess transform to limit the radius of correspondences "Vis/CorGuessWinSize=16"

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matlabbe
2016-02-22 16:13:14 -05:00
parent 0d68f74d80
commit ccc4b4a6c2
22 changed files with 844 additions and 638 deletions
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14
corelib/src/OdometryMono.cpp
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@@ -59,7 +59,7 @@ OdometryMono::OdometryMono(const rtabmap::ParametersMap & parameters) :
pnpReprojError_(Parameters::defaultVisPnPReprojError()),
pnpFlags_(Parameters::defaultVisPnPFlags()),
pnpRefineIterations_(Parameters::defaultVisPnPRefineIterations()),
localHistoryMaxSize_(Parameters::defaultOdomLocalMapHistorySize()),
localHistoryMaxSize_(Parameters::defaultOdomF2MMaxSize()),
initMinFlow_(Parameters::defaultOdomMonoInitMinFlow()),
initMinTranslation_(Parameters::defaultOdomMonoInitMinTranslation()),
minTranslation_(Parameters::defaultOdomMonoMinTranslation()),
@@ -77,7 +77,7 @@ OdometryMono::OdometryMono(const rtabmap::ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kVisPnPReprojError(), pnpReprojError_);
Parameters::parse(parameters, Parameters::kVisPnPFlags(), pnpFlags_);
Parameters::parse(parameters, Parameters::kVisPnPRefineIterations(), pnpRefineIterations_);
Parameters::parse(parameters, Parameters::kOdomLocalMapHistorySize(), localHistoryMaxSize_);
Parameters::parse(parameters, Parameters::kOdomF2MMaxSize(), localHistoryMaxSize_);
Parameters::parse(parameters, Parameters::kOdomMonoInitMinFlow(), initMinFlow_);
Parameters::parse(parameters, Parameters::kOdomMonoInitMinTranslation(), initMinTranslation_);
@@ -129,15 +129,7 @@ OdometryMono::OdometryMono(const rtabmap::ParametersMap & parameters) :
// add only feature stuff
for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
std::string group = uSplit(iter->first, '/').front();
if(group.compare("SURF") == 0 ||
group.compare("SIFT") == 0 ||
group.compare("BRIEF") == 0 ||
group.compare("FAST") == 0 ||
group.compare("ORB") == 0 ||
group.compare("FREAK") == 0 ||
group.compare("GFTT") == 0 ||
group.compare("BRISK") == 0)
if(Parameters::isFeatureParameter(iter->first))
{
customParameters.insert(*iter);
}